From 170976566b9e0ce2d6545790faa3249a6eceda46 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Fri, 10 Mar 2023 12:11:10 +0100
Subject: [PATCH] acsCtrl does not allow ON or NORMAL anymore

---
 mission/acsDefs.h                    | 12 ++++++------
 mission/controller/AcsController.cpp | 10 ++++++++--
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/mission/acsDefs.h b/mission/acsDefs.h
index 9b7916af..f824efbf 100644
--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@@ -10,12 +10,12 @@ namespace acs {
 enum AcsMode : Mode_t {
   OFF = HasModesIF::MODE_OFF,
   SAFE = 10,
-  DETUMBLE = 11,
-  PTG_IDLE = 12,
-  PTG_NADIR = 13,
-  PTG_TARGET = 14,
-  PTG_TARGET_GS = 15,
-  PTG_INERTIAL = 16,
+  PTG_IDLE = 11,
+  PTG_NADIR = 12,
+  PTG_TARGET = 13,
+  PTG_TARGET_GS = 14,
+  PTG_INERTIAL = 15,
+  DETUMBLE = 20,
 };
 
 // static constexpr uint8_t ACS_SYSTEM_DETUMBLE_SUBMODE = 1;
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index bc0fa754..9ae0ed7d 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -639,8 +639,14 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
     } else {
       return INVALID_SUBMODE;
     }
-  } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
-    if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_INERTIAL)) {
+  } else if (not((mode < acs::AcsMode::SAFE) or (mode > acs::AcsMode::PTG_INERTIAL))) {
+    if (mode == acs::AcsMode::SAFE) {
+      if (not((submode == SUBMODE_NONE) or (submode == acs::AcsMode::DETUMBLE))) {
+        return INVALID_SUBMODE;
+      } else {
+        return returnvalue::OK;
+      }
+    } else if (not(submode == SUBMODE_NONE)) {
       return INVALID_SUBMODE;
     } else {
       return returnvalue::OK;